{"id":"https://openalex.org/W7123359846","doi":"https://doi.org/10.1109/tcst.2025.3648511","title":"Multi-Robot Nonlinear Model Predictive Control for Persistent Monitoring","display_name":"Multi-Robot Nonlinear Model Predictive Control for Persistent Monitoring","publication_year":2026,"publication_date":"2026-01-12","ids":{"openalex":"https://openalex.org/W7123359846","doi":"https://doi.org/10.1109/tcst.2025.3648511"},"language":null,"primary_location":{"id":"doi:10.1109/tcst.2025.3648511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3648511","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Francesca Pagano","orcid":"https://orcid.org/0009-0009-7493-1944"},"institutions":[{"id":"https://openalex.org/I4210136872","display_name":"Tecnologie Avanzate (Italy)","ror":"https://ror.org/04kevy945","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210136872"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesca Pagano","raw_affiliation_strings":["Centro Servizi Metrologici e Tecnologici Avanzati (CeSMA), Corso Nicolangelo Protopisani, Naples, Italy"],"raw_orcid":"https://orcid.org/0009-0009-7493-1944","affiliations":[{"raw_affiliation_string":"Centro Servizi Metrologici e Tecnologici Avanzati (CeSMA), Corso Nicolangelo Protopisani, Naples, Italy","institution_ids":["https://openalex.org/I4210136872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004271354","display_name":"Salvatore Marcellini","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Salvatore Marcellini","raw_affiliation_strings":["Leonardo Innovation Labs, Leonardo S.p.A., Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leonardo Innovation Labs, Leonardo S.p.A., Rome, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mario Selvaggio","orcid":"https://orcid.org/0000-0002-2460-1914"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mario Selvaggio","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, PRISMA Laboratory, University of Naples Federico II, Naples, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2460-1914","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004747263","display_name":"Vincenzo Lippiello","orcid":"https://orcid.org/0000-0002-6089-2333"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vincenzo Lippiello","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, PRISMA Laboratory, University of Naples Federico II, Naples, Italy"],"raw_orcid":"https://orcid.org/0000-0002-6089-2333","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5122903404","display_name":"Fabio Ruggiero","orcid":null},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Ruggiero","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, PRISMA Laboratory, University of Naples Federico II, Naples, Italy"],"raw_orcid":"https://orcid.org/0000-0001-7539-9157","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, PRISMA Laboratory, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05158042,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"34","issue":"2","first_page":"906","last_page":"918"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.8567000031471252,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.8567000031471252,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.05689999833703041,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.014399999752640724,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.7081999778747559},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.673799991607666},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.5852000117301941},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48019999265670776},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47600001096725464},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.45500001311302185},{"id":"https://openalex.org/keywords/parametrization","display_name":"Parametrization (atmospheric modeling)","score":0.45010000467300415},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.4049000144004822}],"concepts":[{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.7081999778747559},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.673799991607666},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.5852000117301941},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5784000158309937},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49219998717308044},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48019999265670776},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47600001096725464},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.45500001311302185},{"id":"https://openalex.org/C202887219","wikidata":"https://www.wikidata.org/wiki/Q3895221","display_name":"Parametrization (atmospheric modeling)","level":3,"score":0.45010000467300415},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.4049000144004822},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.3970000147819519},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.38190001249313354},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3643999993801117},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3433000147342682},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.335999995470047},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.3294999897480011},{"id":"https://openalex.org/C196921405","wikidata":"https://www.wikidata.org/wiki/Q786431","display_name":"Online algorithm","level":2,"score":0.3061999976634979},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.29420000314712524},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.29019999504089355},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.265500009059906},{"id":"https://openalex.org/C2776061190","wikidata":"https://www.wikidata.org/wiki/Q7451805","display_name":"Separation (statistics)","level":2,"score":0.2648000121116638},{"id":"https://openalex.org/C17095337","wikidata":"https://www.wikidata.org/wiki/Q2375229","display_name":"Piecewise linear function","level":2,"score":0.2554999887943268}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2025.3648511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3648511","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"an":[2,132],"approach":[3,29],"to":[4,53,84],"address":[5],"a":[6,12,25,38,46,99,140],"multirobot":[7],"persistent":[8],"monitoring":[9],"problem,":[10],"where":[11],"team":[13],"of":[14,21,34,151],"agents":[15,83],"must":[16],"repeatedly":[17],"survey":[18],"specific":[19],"points":[20,74],"interest":[22,32],"(POIs)":[23],"within":[24],"2-D":[26],"area.":[27],"Our":[28,153],"models":[30],"the":[31,59,103,119,156,159],"value":[33],"each":[35],"POI":[36],"with":[37,69,148],"heat-like":[39],"dynamics.":[40],"Each":[41],"agent":[42],"then":[43],"solves":[44],"online":[45,123],"nonlinear":[47],"model":[48],"predictive":[49],"control":[50,73],"(NMPC)":[51],"problem":[52],"determine":[54],"feasible":[55],"trajectories":[56,66],"that":[57,118],"minimize":[58],"cumulative":[60],"heat":[61],"across":[62,143],"all":[63],"POIs.":[64,152],"The":[65,107],"are":[67,75],"parameterized":[68],"B\u00e9zier":[70],"curves,":[71],"whose":[72],"used":[76],"as":[77],"optimization":[78,93],"variables;":[79],"this":[80],"parametrization":[81],"enables":[82],"efficiently":[85],"communicate":[86],"their":[87],"optimized":[88],"motions.":[89],"An":[90],"additional":[91],"quadratic":[92],"layer":[94],"adds":[95],"safety":[96],"guarantees":[97],"while":[98],"central":[100],"unit":[101],"updates":[102],"global":[104],"POIs\u2019":[105],"map.":[106],"method":[108],"has":[109],"been":[110],"validated":[111],"in":[112],"simulation":[113,134],"and":[114,124],"real":[115],"experiments,":[116],"demonstrating":[117],"algorithm":[120],"can":[121],"run":[122],"on":[125],"computationally":[126],"limited":[127],"hardware":[128],"platforms.":[129],"In":[130],"addition,":[131],"extensive":[133],"campaign":[135],"compares":[136],"our":[137],"NMPC":[138,154],"against":[139],"state-of-the-art":[141],"baseline":[142,157],"90":[144],"randomly":[145],"generated":[146],"scenarios":[147],"different":[149],"numbers":[150],"outperforms":[155],"along":[158],"considered":[160],"metrics,":[161],"attaining":[162],"lower":[163],"robot":[164],"velocities.":[165]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-01-14T00:00:00"}
